Component supply device

ABSTRACT

Multiple types of leaded components  410   a,    410   b , and  410   c  are scattered on component support member  285 , and those multiple types of components are imaged by an imaging device. Identification information for identifying each type of the multiple types of components, and position information representing the position of the components on the component support section, is acquired from image data captured by the imaging device  84 . Then, based on the identification information and the position information, any of the multiple types of components on the component support member  285  are held by a holding tool. By this, it is possible to pick up any of the multiple types of components scattered on the component support section  285  and it is possible to supply many types of components using the component supply device  32 . Also, there is no need for an operator to check components on the component support section  285 , so the operator workload is reduced.

TECHNICAL FIELD

The present application relates to a component supply device providedwith a component support section that supports multiple components in ascattered state.

BACKGROUND ART

Among component supply devices, there is a device that scatters multiplecomponents on a component support section and uses operation of acomponent holding robot or the like to pick up the components scatteredon the component support section. An example of such a component supplydevice is disclosed in the patent literature below.

Patent literature 1: JP-A-H10-202569

SUMMARY

With the component supply device disclosed in the above patentliterature, multiple components of a single type are scattered on acomponent support section, and any one of the multiple components of thesingle type are picked up. Therefore, it is not possible to supply manytypes of components, meaning that convenience is poor. Also, an operatormust pay attention to ensure that other types of components are notmixed on the component support section, making the burden on theoperator large. Thus, there is room for improvement in component supplydevices that include a component support section, and the practicalityof a component supply device can be improved by performing variousimprovements. An object of the present disclosure is to provide a highlypractical component supply device that takes account of the abovecircumstances.

To solve the above problems, the present disclosure of a componentsupply device includes: a component support section configured tosupport multiple types of components in a scattered state; an imagingdevice configured to image the component supported by the componentsupport section; a holding tool configured to hold the componentsupported by the component support section; a moving device configuredto move the holding tool to any position above the component supportsection; and a control section configured to control operation of theholding tool and the moving device, wherein the control section includesan information acquiring section configured to acquire identificationinformation for identifying each type of the multiple types ofcomponents and position information representing a position of each ofthe multiple types of components on the component support section, basedon image data captured by the imaging device, and an operation controlsection configured to control operation of the holding tool and themoving device based on the identification information and the positioninformation acquired by the information acquiring section, such that anytype of the multiple types of components supported by the componentsupport section can be held by the holding tool.

ADVANTAGEOUS EFFECTS

With the present disclosure of a component supply device, multiple typesof components are scattered on a component support section and thosemultiple types of components are imaged by an imaging device.Identification information for identifying each type of the multipletypes of components, and position information representing the positionof each of the multiple types of components on the component supportsection, is acquired from image data captured by the imaging device.Then, based on the identification information and the positioninformation, any of the multiple types of components supported by thecomponent support section can be held by a holding tool. In this manner,with the component supply device of the present disclosure, it ispossible to pick up any of the multiple types of components from themultiple types of components scattered on the component support section.By this, it is possible to supply many types of components using thecomponent supply device. Also, there is no need for an operator to checkcomponents on the component support section, thus reducing the workloadon the operator.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view of a component mounter.

FIG. 2 is a perspective view showing a component mounting device of thecomponent mounter.

FIG. 3 is a perspective view of a loose component supply device.

FIG. 4 is a plan view of the loose component supply device.

FIG. 5 is a perspective view of a component supply unit.

FIG. 6 is a perspective view showing the component supply unit in astate with a component collection container raised to an upper limitposition.

FIG. 7 is a plan view showing the loose component supply device withcomponent supply units of different widths attached.

FIG. 8 is a plan view showing the loose component supply device withcomponent supply units of different widths attached.

FIG. 9 is a plan view showing the loose component supply device with acomponent support unit attached.

FIG. 10 is a side view of the component support unit.

FIG. 11 is a perspective view of a component holding head.

FIG. 12 shows a component receiving member.

FIG. 13 is a block diagram showing a control device.

FIG. 14 is a perspective view of a component scattering device.

FIG. 15 conceptually shows identification information.

FIG. 16 is a perspective view of a component scattering device and acomponent returning device.

DESCRIPTION OF PREFERRED EMBODIMENTS

The following describes in detail referring to the figures an exampleembodiment of the present disclosure.

Configuration of Component Mounter.

FIG. 1 shows component mounter 10. Component mounter 10 performs work ofmounting components on circuit board 12. Component mounter 10 isprovided with device main body 20, board conveying and holding device22, component mounting device 24, imaging devices 26 and 28, componentsupply device 30, loose component supply device 32, and control device(refer to FIG. 13) 34. Note that, examples of circuit board 12 includecircuit boards and boards with a three-dimensional construction,examples of a circuit board being a printed wiring board or a printedcircuit board.

Device main body 20 is configured from frame section 40 and beam section42 that is mounted on the frame section 40. Board conveying and holdingdevice 22 is positioned centrally inside frame section 40 in thefront-rear direction, and includes conveyance device 50 and clamp device52. Conveyance device 50 conveys circuit board 12, and clamp device 52holds circuit board 12. Thus, board conveying and holding device 22conveys circuit board 12 and fixedly holds circuit board 12 at aspecified position. Note that, in the descriptions below, the conveyancedirection of circuit board 12 is referred to as the X direction, thedirection horizontally perpendicular to the X direction is referred toas the Y direction, and the vertical direction is referred to as the Zdirection. That is, the width direction of component mounter 10 is the Xdirection, and the front-rear direction is the Y direction.

Component mounting device 24 is provided on beam section 42, andincludes work heads 60 and 62 and work head moving device 64. Each workhead 60 and 62 includes holding tool (refer to FIG. 2) 66 such as achuck or suction nozzle, and holds a component using holding tool 66.Further, work head moving device 64 includes X-direction moving device68, Y-direction moving device 70, and Z-direction moving device 72. Workheads 60 and 62 are moved together to any position on frame 40 byX-direction moving device 68 and Y-direction moving device 70. Also, asshown in FIG. 2, work head 60 and 62 are detachably attached to sliders74 and 76 respectively, and Z-direction moving device 72 moves sliders74 and 76 in a vertical direction individually. That is, work heads 60and 62 are moved in a vertical direction individually by Z-directionmoving device 72.

Imaging device 26 is attached to slide 74 in a state facing downwards,and is moved in the X direction, Y direction, and Z direction togetherwith work head 60. Thus, imaging device 26 images any position on framesection 40. As shown in FIG. 1, imaging device 28 is provided in a statefacing upwards on frame section 40 between board conveying and holdingdevice 22 and component supply device 30. Thus, imaging device 28 imagesa component held by component holding tool 66 of work heads 60 and 62.

Component supply device 30 is provided at an end of frame section 40 inthe front-rear direction. Component supply device 30 includes tray-typecomponent supply device 78 and feeder-type component supply device (notshown). Tray-type component supply device 78 supplies components in astate arranged in a tray. The feeder-type component supply devicesupplies components via a tape feeder (not shown).

Loose component supply device 32 is provided at the other end of framesection 40 in the front-rear direction. Loose component supply device 32lines up multiple components that are in a scattered state, and suppliesthe components in a lined-up state. That is, this device arrangesmultiple components that have random orientations to have a specifiedorientation and supplies the components in the specified orientation.The configuration of component supply device 32 is described below indetail. Note that, components supplied by component supply device 30 andloose component supply device 32 may include electronic circuitcomponents, configuration components of solar panels, configurationcomponents of power modules, and the like. Also, electronic circuitcomponents include components with leads and components without leads.

As shown in FIGS. 3 and 4, loose component supply device 32 includesmain body 80, component supply unit 82, imaging device 84, and componenttransfer device 86.

(a) Component Supply Unit

Component supply unit 82 includes component supply apparatus 88,component scattering device 90, and component returning device 92, withthose supply apparatus 88, component scattering device 90, and componentreturning device 92 configured to be integrated as one. Component supplyunit 82 is assembled to be removable from base 96 of main body 80, andwith loose component supply device 32, five component supply units 82are arranged in one row in the X direction.

(i) Component Supply Apparatus

As shown in FIG. 5, component supply apparatus 88 includes componentstorage apparatus 100, housing 102, and grip 104. Component storageapparatus 100 has a general shape of a rectangular parallelepiped and isopen at the top surface and a front surface. The bottom surface ofcomponent storage apparatus 100 is inclined surface 116, which isinclined towards the open front surface of component storage apparatus100.

Housing 102 includes pair of side walls 120. This pair of side walls 120have a largely rectangular shape and are arranged facing each other soas to sandwich component storage apparatus 100. Pair of protrudingsections 122 and 124 that protrude in a C-shape are formed at the rearside of each side wall 120. Pair of side walls 120 are connected atprotruding sections 122 and 124 via connecting members 126 and 128.Further, pair of side walls 120 are connected at an upper section byconnecting rod 130, and at a lower section by a connecting rod (notshown). Note that, the distance between the pair of side walls 120 isslightly longer than the width of component storage apparatus 100sandwiched by the pair of side walls 120.

Support shaft 134 spans the pair of side walls 120 at a base section ofprotruding section 122, and component storage apparatus 100 is supportedon support shaft 134 in a swingable manner. That is, component storageapparatus 100 is swingable inside housing 102 around support shaft 134.Further, component ejection member 150 is fixedly provided between thepair of side walls 120 so as to be positioned in front of the lowerfront end of component storage apparatus 100. Component ejection member150 includes inclined plate 152, and pair of side plates (only one ofwhich is shown) 154 established at each end in the width direction ofinclined plate 152. Inclined plate 152 is inclined downwards towards thefront side.

Grip 104 is configured from fixed holding member 170 and movable holdingmember 172. Fixed holding member 170 is a rectangular tube with one openside. Fixed holding member 170 is fixed to connecting member 128 at anupper end section in a state with the open side facing between the pairof side walls 120, and is fixed at a lower end section to connectingsection 126. Further, movable holding member 172 is also a rectangulartube and fits inside fixed holding member 170 from the open side offixed holding member 170. And, movable holding member 172 is swingablysupported at a lower portion by connecting member 126. By this, movableholding member 172 is swingable around a lower portion thereof, suchthat an upper portion of movable holding member 172 approaches andseparates from fixed holding member 170.

An upper portion of movable holding member 172 is connected to the rearsurface of component storage apparatus 100 by a connecting arm (notshown). Therefore, when movable holding member 172 swings, componentstorage apparatus 100 also swings. That is, when the upper portion ofmovable holding member 172 swings in a direction away from fixed holdingmember 170, component storage apparatus 100 swings downwards.Conversely, when the upper portion of movable holding member 172 swingsin a direction approaching fixed holding member 170, component storageapparatus 100 swings upwards.

Also, a spring (not shown) is provided in a compressed state betweenfixed holding member 170 and movable holding member 172. Therefore,movable holding member 172 is biased in a direction away from fixedholding member 170 by the elastic force of the spring. That is, usually,when the upper portion of movable holding member 172 swings in adirection away from fixed holding member 170, component storageapparatus 100 swings downwards. Here, the front side end portion ofinclined surface 116 of component storage apparatus 100 faces the rearside end portion of inclined plate 152 substantially without a gap.

Also, component supply apparatus 88 is attached to the pair of sideframe sections 190 assembled to base 96 in a removable manner. Indetail, the pair of side frame sections 190 are largely plate-shaped,and are arranged to face each other separated by a specified distance.The distance between the pair of side frame sections 190 is thedimension in the width direction of component supply apparatus 88, thatis, slightly longer than the distance between the pair of side walls120. Therefore, component supply apparatus 88 is inserted between thepair of side frame sections 190.

Also, a lock mechanism (not shown) is provided on a lower portion ofmovable holding member 172 of grip 104, and in a state with movableholding member 172 biased in a direction away from fixed holding member170 by the elastic force of a spring, that is, usually, component supplyapparatus is locked between the pair of side frame sections 190 by thelock mechanism. On the other hand, in a case in which an operator hasgripped grip 104, movable holding member 172 approaches fixed holdingmember 170 against the elastic force of the spring. In this case, thelock mechanism provided on the lower portion of movable holding member172 is released. By this, by an operator raising component supplyapparatus 88 in a state gripping grip 104 of component supply apparatus88, component supply apparatus 88 is removed from the pair of side framesections 190.

(ii) Component Scattering Device

Component scattering device 90 includes component support member 220,component support member moving device 222, and supply apparatusoscillating device 224. Component support member 220 is a roughlyrectangular plate, and is provided to extend forwards from belowinclined plate 152 of component supply apparatus 88. Side wall sections228 are formed at each edge in the lengthwise direction of componentsupport member 220.

Component support member moving device 222 is for moving componentsupport member 220 forwards and backwards by the driving ofelectromagnetic motor (refer to FIG. 13) 236. By this, component supportmember 220 moves forwards and backwards slightly below the lower end ofinclined plate 152 of component supply apparatus 88 in a state with theupper surface of component support member 220 horizontal. Note that,component support member 220 moves to and from a component supplyposition at which roughly the entire body of component support member220 is exposed, and a retract position at which the entire body ofcomponent support member 220 is below component supply apparatus 88.

Supply apparatus oscillating device 224 includes cam member 240, camfollower 242, and stopper 244. Cam member 240 is roughly a plate and isfixed to an outer side surface of side wall section 228 extending in afront-rear direction. Multiple teeth 245 are formed at regular intervalsin the front-rear direction on the upper end section of cam member 240.Cam follower 242 includes lever 252 and roller 254. Lever 252 isprovided on the lower end section of side wall 120 of component supplyapparatus 88 so as to extend in a vertical direction, and is supportedby side wall 120 at the upper end section so as to be swingable aroundan axis line parallel to the width direction of component supplyapparatus 88. Roller 254 is held by the bottom end of lever 252 to berotatable around an axis line parallel to the width direction ofcomponent supply apparatus 88. Note that, lever 252 is biased in adirection facing forwards by the elastic force of a coil spring (notshown).

Stopper 244 is provided protruding from side wall 120, and lever 252biased by the elastic force of the coil spring contacts stopper 244.Note that, lever 252 extends downwards in a vertical direction in astate contacting stopper 244.

(iii) Component Returning Device

As shown in FIG. 6, component returning device 92 includes containerraising and lowering device 260, and component collection container 262.Container raising and lowering device 260 includes air cylinder 266 andraising and lowering member 268, and raising and lowering member 268 israised and lowered by operation of air cylinder 266. Also, air cylinder266 is fixed to the front side end of component support member 220.Accordingly, air cylinder 266 moves forwards and backwards together withcomponent support member 220 by operation of component support membermoving device 222.

Component collection container 262 is provided on the upper surface ofraising and lowering member 268 and is moved up and down by operation ofair cylinder 266. Here, component collection container 262 is moved toand from a raised position that is higher than component supplyapparatus 88, and a lowered position that is below component supportmember 220.

Component collection container 262 is a box that is open at the top, andis supported on the top surface of raising and lowering member 268 to berotatable around an axis line parallel to the width direction ofcomponent supply apparatus 88. Accordingly, component collectioncontainer 262 rotates to and from a component receiving state (the stateof component collection container 262 in FIG. 14) in which the bottomsurface is horizontal and it is possible to receive components from theentrance, and a component ejection state (the state of componentcollection container 262 in FIG. 6) in which the bottom surface isvertical and components can be ejected from the entrance. Note that,component collection container 262 is biased in the direction of thecomponent receiving state by a coil spring (not shown).

As shown in FIG. 5, protruding pin 272 is provided on the rear side endsection of component collection container 262. Protruding pin 272protrudes towards the outside on the side of component collectioncontainer 262. Further, engaging block 274 is fixed to the inside of thefront side top end section of side frame section 190. Also, as shown inFIG. 6, when component collection container 262 is raised to the raisedposition by operation of air cylinder 266, protruding pin 272 engageswith engaging block 274. By this, component collection container 262rotates and enters the component ejection state.

Note that, with loose component supply device 32, component supply units82 are configured from component supply apparatus 88, componentscattering device 90, and component returning device 92, and multiplecomponent supply units with different widths are prepared. Specifically,compared to component supply unit 82 shown in FIGS. 3 to 6, there arecomponent supply unit (refer to FIG. 7) 280 that is twice as wide, andcomponent supply unit (refer to FIG. 8) 282 that is three times as wide.Note that, component supply units 280 and 282, similarly to componentsupply unit 82, are configured from a component supply apparatus, acomponent scattering device, and a component returning device; thecomponent supply apparatus, the component scattering device, and thecomponent returning device of component supply units 280 and 282 arejust wider versions of component supply apparatus 88, componentscattering device 90, and component returning device 92 of componentsupply unit 82, therefore descriptions are omitted.

Component supply unit 82, as described above, is removably attached tobase 96 of main body 80. Therefore, for example, two adjacent componentsupply units 82 can be removed from base 96, and as shown in FIG. 7,component supply unit 280 can be attached at that position. Also, forexample, three adjacent component supply units 82 can be removed frombase 96, and as shown in FIG. 8, component supply unit 282 can beattached at that position.

Further, with loose component supply device 32, instead of componentsupply units 82, 280, and 282, as shown in FIG. 9, component supportunit 284 may be attached to base 96. Specifically, as shown in FIGS. 9and 10, component support unit 284 includes component support member 285and inclined plate 286. Component support member 285 is a largelyrectangular member, with the width of component support member 285 beingapproximately five times the width of component supply unit 82. Also,rails 287 are formed extending in a front-rear direction on the lowersurface of component support member 285, with grooves 288 being formedextending in a front-rear direction on base 96 of main body 80. Further,rails 287 of component support member 285 engage with grooves 288 suchthat component support member 285 is slidable in the front-reardirection. By this, component support unit 284 is removably attached tobase 96.

Also, inclined plate 286 is supported by a supporting mechanism (notshown) above a rear end section of component support member 285.Inclined plate 286 is inclined downwards towards the front side. Thelower end of inclined plate 286 and the upper surface of componentsupport member 285 are separated by a specified distance such thatcomponents on component support member 285 and inclined plate 286 do notinterfere when component support member 285 is slid.

(b) Imaging Device

As shown in FIG. 3, imaging device 84 includes camera 290 and cameramoving device 292. Camera moving 292 includes guide rail 296 and slider298. Guide rail 296 is fixed to main body 80 above component supplyapparatus 88 so as to extend in the width direction of loose componentsupply device 32. Slider 298 is slidably attached to guide rail 296, andcan be slid to any position by operation of electromagnetic motor (referto FIG. 13) 299. Also, camera 290 is attached to slider 298 facingdownwards.

(c) Component Transfer Device

As shown in FIG. 3, component transfer device 86 includes componentholding head moving device 300, component holding head 302, and twoshuttle devices 304.

Component holding head moving device 300 includes X-direction movingdevice 310, Y-direction moving device 312, and Z-direction moving device314. Y-direction moving device 312 includes Y slider 316 provided abovecomponent supply unit 82 extending in the X direction, and Y slider 316is moved to any position in the Y direction by operation ofelectromagnetic motor (refer to FIG. 13) 319. X-direction moving device310 includes X slider 320 provided on a side surface of Y slider 316,and X slider 320 is moved to any position in the X direction byoperation of electromagnetic motor (refer to FIG. 13) 321. Z-directionmoving device 314 includes Z slider 322 provided on a side surface of Xslider 320, and Z slider 322 is moved to any position in the Z directionby operation of electromagnetic motor (refer to FIG. 13) 323.

As shown in FIG. 11, component holding head 302 includes head main body330, suction nozzle 332, nozzle pivoting device 334, and nozzle rotatingdevice 335. Head main body 330 is formed as one body with Z slider 322.Suction nozzle 332 picks up and holds a component using negativepressure and is attached to the lower end of nozzle holder 340. Nozzleholder 340 is able to bend at support shaft 344, and nozzle holder 340bends 90 degrees by operation of nozzle pivoting device 334. By this,suction nozzle 332 attached to the bottom end of nozzle holder 340 ispivoted 90 degrees to be positioned at the pivoted position. That is,suction nozzle 332 is able to be pivoted to and from a non-pivotedposition and a pivoted position by operation of nozzle pivoting device334. Further, nozzle rotating device 335 rotates suction nozzle 332around its own center axis.

As shown in FIG. 3, each of the two shuttle devices 304 includescomponent carrier 388, and component carrier moving device 390, and isfixed to main body 80 lined up in the sideways direction on the frontside of component supply unit 82. Five component receiving members 392are attached to component carrier 388 lined up in a single row sideways,and components are loaded on each component receiving member 392.

In detail, as shown in FIG. 12, components supplied by loose componentsupply device 32 are electronic circuit components 410 that have leads(hereinafter also referred to as “leaded components”), being configuredfrom a block-like component main body 412, and two leads 414 thatprotrude from the bottom surface of component main body 412. Also,component reception recess 416 is formed in component receiving member392. Component reception recess 416 is a stepped recess configured frommain body section reception recess 418 open at the top surface ofcomponent receiving member 392, and lead reception recess 420 open inthe bottom surface of main body section reception recess 418. Leadedcomponent 410 is inserted inside component reception recess 416 withleads 414 pointing downwards. Therefore, leaded component 410 is loadedinside component reception recess 416 with leads 414 inserted into leadreception recess 420 and component main body 412 inserted into main bodysection reception recess 418.

As shown in FIG. 3, component carrier moving device 390 is a long platemember provided on the front side of component supply unit 82 extendingin the front-rear direction. Component carrier 388 is provided on theupper surface of component carrier moving device 390 to be slidable inthe front-rear direction, and is slid to any position in the front-reardirection by operation of electromagnetic motor (refer to FIG. 13) 438.Note that, component carrier 388, when slid in a direction approachingcomponent supply unit 82, is slid to a component receiving position thatis positioned within the movement range of component holding head 302 bycomponent holding head moving device 300. Conversely, when slid in adirection away from component supply unit 82, component carrier 388 isslid to a component supply position that is positioned within themovement range of work heads 60 and 62 by work head moving device 64.

Further, as shown in FIG. 13, control device 34 includes overall controldevice 450, multiple individual control devices (only one is shown inthe FIG. 452, and image processing device 454. Overall control device450 is configured mainly from a computer and is connected to boardconveying and holding device 22, component mounting device 24, imagingdevice 26, imaging device 28, component supply device 30, and loosecomponent supply device 32. Thus, overall control device 450 performsoverall control of board conveying and holding device 22, componentmounting device 24, imaging device 26, imaging device 28, componentsupply device 30, and loose component supply device 32. The multipleindividual control devices 452 are configured mainly from a computer andare provided corresponding to board conveying and holding device 22,component mounting device 24, imaging device 26, imaging device 28,component supply device 30, and loose component supply device 32 (in thefigure, only individual control device 452 corresponding to loosecomponent supply device 32 is shown). Individual control device 452 ofloose component supply device 32 is connected to component scatteringdevice 90, component returning device 92, camera moving device 292,component holding head moving device 300, component holding head 302,and shuttle device 304. Accordingly, individual control device 452 ofloose component supply device 32 controls component scattering device90, component returning device 92, camera moving device 292, componentholding head moving device 300, component holding head 302, and shuttledevice 304. Also, image processing device 454 is connected to imagingdevice 84 and processes image data captured by imaging device 84.Further, image processing device 454 is connected to individual controldevice 452 of loose component supply device 32. By this, individualcontrol device 452 of loose component supply device 32 acquires imagedata captured by imaging device 84.

Component Mounter Operation

Component mounter 10, according to the above configuration, mountscomponents on circuit board 12 held by board conveying and holdingdevice 22. Specifically, circuit board 12 is conveyed to a workposition, and is fixedly held at that position by clamp device 52. Next,imaging device 26 moves above circuit board 12 and images circuit board12. By this, information related to a holding position error of circuitboard 12 is obtained. Also, component supply device 30 or loosecomponent supply device 32 supplies components at a specified supplyposition. Component supply by loose component supply device 32 isdescribed in detail later. One of the work heads 60 or 62 moves abovethe component supply position and holds a component using componentholding tool 66. Then, work head 60 or 62 holding the component movesabove imaging device 28, and the component being held by componentholding tool 66 is imaged by imaging device 28. Accordingly, informationrelated to an error of the holding position of the component isobtained. Next, work head 60 or 62 holding the component moves abovecircuit board 12, and mounts the held component on circuit board 12after correcting for the error in the holding position of circuit board12 and the error in the holding position of the component and so on.

Loose Component Supply Device Operation (a) Supply of Leaded ComponentsUsing Loose Component Supply Device

With loose component supply device 32, leaded components 410 areinserted by an operator into component storage apparatus 100 ofcomponent supply apparatus 88, then, the inserted leaded components 410are supplied in a state loaded on component receiving member 392 ofcomponent carrier 388 by operation of component supply unit 82 andcomponent transfer device 86. In detail, the operator inserts multipletypes of leaded components 410 via the entrance in the top surface ofcomponent storage apparatus 100 of component supply apparatus 88. Here,component support member 220 is moved to the retract position belowcomponent supply apparatus 88 by operation of component support membermoving device 222, and component collection container 262 is positionedin front of component supply apparatus 88.

Leaded components 410 inserted via the entrance on the top surface ofcomponent storage apparatus 100 fall onto inclined surface 116 ofcomponent storage apparatus 100 and spread out on inclined surface 116.Here, in a case in which leaded components 410 that have fallen ontoinclined surface 116 roll and fall beyond inclined plate 152, they arecollected in component collection container 262 positioned in front ofcomponent supply apparatus 88.

After leaded components 410 have been inserted into component storageapparatus 100, component support member 220 is moved forwards from belowcomponent supply apparatus 88 by operation of component support membermoving device 222. Here, as shown in FIG. 14, as cam member 240 engageswith cam follower 242, roller 254 of cam follower 242 rides over teeth245 of cam member 240. Lever 252 of cam follower 242 is biased in adirection facing forwards by the elastic force of a coil spring, withthe biasing forward of lever 252 being regulated by stopper 244.Therefore, when component support member 220 is moved forwards, roller254 and teeth 245 are maintained in an engaged state, and roller 254rides over teeth 245 without lever 252 being rotated forwards. Here,component supply apparatus 88 is raised by the riding over of teeth 245by roller 254. That is, with roller 254 engaged with teeth 245,component support member 220 is moved forward, such that roller 254rides over multiple teeth 245 and component supply apparatus 88 isoscillated by being consecutively moved up and down.

Leaded components 410 spread out on inclined surface 116 of componentsupply apparatus 100 are moved forwards by the oscillation of componentsupply apparatus 88 and the incline of inclined surface 116, and areejected onto the upper surface of component support member 220 viainclined plate 152. Here, leaded components 410 are prevented fromfalling from component support member 220 by side wall sections 228 ofcomponent support member 220. And, by component support member 220 beingmoved to the component supply position, multiple leaded components 410are scattered on the upper surface of component support member 220.However, because the width of component supply member 220 is relativelynarrow, there are cases in which leaded components 410 are not scatteredsuitably if they are large or if there are many of them.

Thus, if the leaded components 410 to be supplied are large, or if thequantity of leaded components 410 to be supplied is relatively large,instead of component supply unit 82, component supply unit 280 orcomponent supply unit 282 is attached to base 96 of main body 80. Inthis case, multiple types of leaded components 410 are inserted into thecomponent storage apparatus of component supply unit 280 or 282, and thecomponent scattering device of component supply unit 280 or 282 scattersthe leaded components 410 on the component support member of componentsupply unit 280 or 282 by operating in a similar manner to componentscattering device 90 of component supply unit 82. By this, even largeleaded components 410 and a large quantity of leaded components 410 canbe scattered suitably on the relatively wide component support member.

Further, if even larger leaded components 410 are to be supplied, or aneven larger quantity of leaded components 410 is to be supplied, insteadof component supply units 82, 280, or 282, component support unit 284 isattached to base 96 of main body 80. Then, an operator directly suppliesmultiple types of leaded components 410 onto inclined plate 286 ofcomponent support unit 284. That is, with component support unit 284,unlike with component supply apparatus 88 of component supply units 82,280, and 282, the operator drops leaded components 410 directly ontoinclined plate 286, not via component storage apparatus 100 or the like.

When leaded components 410 are supplied onto inclined plate 286, thoseleaded components 410 roll on inclined plate 286 and fall onto componentsupport member 285. By this, as shown in FIGS. 9 and 10, leadedcomponents 410 are scattered on component support member 285. In thismanner, by attaching component support unit 284 to base 96 instead ofattaching component supply unit 82, 280, or 282, even large leadedcomponents 410 and a large quantity of leaded components 410 can bescattered suitably on the relatively wide component support member 285.Also, compared to component supply units 82, 280, and 282, componentsupport unit 284 has a relatively simple configuration, making itextremely beneficial in terms of cost. Note that, in FIGS. 9 and 10,when three types of leaded components 410 a, 410 b, and 410 c aresupplied to inclined plate 286, those three types of leaded components410 a, 410 b, and 410 c are shown scattered on component support member285.

According to the procedure described above, when the multiple types ofleaded components 410 are scattered on component support member 220 ofcomponent supply unit 82, 280, or 282, or on component support member285 of component support unit 284, camera 290 of imaging device 84 ismoved above the component support member 220 or 285 on which the leadedcomponents 410 are scattered by operation of camera moving device 292,and the leaded components 410 are imaged. Then, based on the image datacaptured by camera 290, a leaded component that is a target for pickup(hereinafter also referred to as “pickup target component”) is held by asuction nozzle 332 of component holding head 302. Here, as describedabove, multiple types of leaded components 410 are scattered oncomponent support member 220 of component supply unit 82, 280, or 282,or on component support member 285 of component support unit 284.Therefore, the pickup target components are identified from the multipletypes of leaded components 410.

Descriptions will be given specifically in a case, as shown in FIGS. 9and 10, when three types of leaded components 410 a, 410 b, and 410 care scattered on component support member 285 of component support unit284, and leaded component 410 a is the pickup target component.Information for identifying leaded components 410 (hereinafter alsoreferred to as “identification information”) is stored in individualcontrol device 452 of loose component supply device 32. Identificationinformation is information related to the form of each leaded component410 supplied by loose component supply device 32, and is configured frominformation representing the form of four side surfaces of leadedcomponents 410. FIG. 15 conceptually shows identification information460 of leaded component 410 a as an example of identificationinformation of a leaded component 410.

Identification information 460 of leaded component 410 a includesinformation 460 a representing the form of leaded component 410 a seenfrom specified side surface 462 a from the four side surfaces ofcomponent main body 412 of leaded component 410 a, information 460 brepresenting the form of leaded component 410 a seen from side surface462 b that is adjacent to side surface 462 a, information 460 crepresenting the form of leaded component 410 a seen from side surface462 c that is opposite to side surface 462 b, and information 460 drepresenting the form of leaded component 410 a seen from side surface462 d that is opposite to side surface 462 a.

Note that, individual image data of each of the multiple leadedcomponents 410 scattered on component support member 285 (hereinafter“individual image data”) is included in the image data of camera 290.Therefore, the multiple pieces of individual image data included in theimage data of camera 290 and the identification information stored inindividual control device 452 are compared, and items that matchidentification information 460 of leaded components 410 a are extractedfrom those multiple pieces of individual image data. And, a leadedcomponent 410 corresponding to the extracted individual image data isidentified as a pickup target component.

When a pickup target component is identified, the position of the pickuptarget component and orientation of the pickup target component arecalculated based on the image data of camera 290. Then, based on thecalculated position of the pickup target component and orientation ofthe pickup target component, operation of component holding head movingdevice 300 is controlled. By this, component holding head 302 movesabove the pickup target component and the pickup target component ispicked up and held using suction nozzle 332. Note that, when the pickuptarget component is picked up and held by suction nozzle 332, suctionnozzle 332 is in the non-pivoted position.

After leaded component 410 has been picked up by suction nozzle 332,component holding head 302 is moved above component carrier 388, andhere, component carrier 388 is moved to the component receiving positionby operation of component carrier moving device 390. Also, whencomponent holding head 302 is moved above component carrier 388, suctionnozzle 332 is pivoted to the pivoted position. Note that, suction nozzle332 is rotated by operation of nozzle rotating device 335 such thatleads 414 of the leaded component 410 held by suction nozzle 332 that isin the pivoted position face downwards in a vertical direction.

When component holding head 302 is moved above component carrier 388,leaded component 410 in a state with leads 414 facing downwards in thevertical direction is inserted into component reception member 392. Bythis, leaded component 410 is loaded in component receiving member 392with leads 414 facing vertically downwards. Then, component carrier 388is moved to the component supply position by operation of componentcarrier moving device 390. With loose component supply device 32,because component carrier 388 moved to the component supply position iswithin the movement range of work heads 60 and 62, leaded components 410are supplied at this position. In the manner, with loose componentsupply device 32, leaded components 410 are supplied with leads 414pointing downwards, and with the surface opposite the surface to whichthe leads are connected facing upwards. Therefore, component holdingtool 66 of work head 60 or 62 is able to appropriately hold leadedcomponent 410.

Also, with a conventional loose component supply device, only one typeof leaded component 410 can be supplied by one component supply unit 82,280, or 282. That is, only one type of leaded component 410 can beinserted into component storage apparatus 100 of one component supplyunit 82, 280, or 282. Therefore, even when five component supply units82 are attached to base 96, at most five types of leaded components 410can be supplied, meaning that convenience is poor. Also, it is necessaryto distinguish the types of leaded components 410 for each componentsupply unit 82, 280, and 282, meaning the burden on operators is large.Conversely, with loose component supply device 32, multiple types ofleaded components 410 are supplied in one component supply unit 82, 280,or 282, or one component support unit 284, with any pickup targetcomponent from the multiple types of leaded components 410 being pickedup. Thus, with loose component supply device 32 it is possible to supplyfive or greater leaded components 410, and usability is improved. Also,there is no need for an operator to identify the types of leadedcomponents 410 by each component supply unit 82, 280, or 282, orcomponent support unit 284, thereby reducing the burden on operators.

Note that, as shown in FIG. 13, individual control device 452 includesinformation acquiring section 470 and operation control section 472.Information acquiring section 470 is a functional section for acquiringinformation related to individual image data and the position of apickup target component based on image data of camera 290. Operationcontrol section 472 is a functional section for controlling operation ofcomponent holding head moving device 300 and component holding head 302based on information related to the position of a pickup targetcomponent and individual image data.

(b) Collection of Leaded Components

Further, with loose component supply device 32, leaded components 410scattered on component support member 220 or 285 can be collected. Indetail, in a case in which component supply unit 82, 280, or 282 isattached to base 96, first, component support member 220 is moved belowcomponent supply apparatus 88 by operation of component support membermoving device 222. Here, as shown in FIG. 16, leaded components 410 oncomponent support member 220 are stopped by inclined plate 152 ofcomponent supply apparatus 88. By this, leaded components 410 oncomponent support member 220 are scraped into component collectioncontainer 262.

When component support member 220 is moved below component storageapparatus 88, component collection container 262 moves up by operationof container raising and lowering device 260. Here, as shown in FIG. 6,protruding pin 272 provided on component collection container 262engages with engaging block 274 provided on the inside of side framesection 190. By this, component collection container 262 is rotated, andthe bottom surface of component collection container 262 becomesvertical. Therefore, all the leaded components 410 inside componentcollection container 262 are returned inside component storage apparatus100.

By an operator gripping the grip of component supply apparatus 88, asdescribed above, component supply apparatus 88 is unlocked, and by theoperator raising component supply apparatus 88, component supplyapparatus 88 is removed from the pair of side frame sections 190. Bythis, leaded components 410 are collected outside of loose componentsupply device 32 by leaded components 410 being removed from componentsupply apparatus 88.

Also, in a case in which component support unit 284 is attached to base96, an operator removes component support member 285 from base 96 bysliding component support member 285 in a direction away from base 96.By this, leaded components 410 scattered on component support member 285are collected outside of loose component supply device 32. In thismanner, with component support unit 284, it is possible to collectleaded components 410 using a mechanism construction that is extremelysimple, which is highly convenient from a cost perspective.

Further, the present disclosure is not limited to the above exampleembodiments, and various changed or improved methods of embodiment arepossible based on the knowledge of someone skilled in the art.Specifically, for example, in the above embodiment, component supplydevice 280 and 282 with a width twice or three times as wide ascomponent supply unit 82 are used, but a component supply unit of anywidth may be used. Also, component support unit 284 with a width fivetimes that of component supply unit 82 is used, but a component supportunit of any width may be used.

Also, with the above embodiment, as information for identifying leadedcomponents 410, information related to the form of leaded components 410is used, but various types of identification information may be used.For example, in a case in which an ID or the like is provided on leadedcomponent 410, the ID may be used as identification information.

REFERENCE SIGNS LIST

-   32: loose component supply device (component supply device); 82:    component supply unit; 84: imaging device; 88: component supply    apparatus (storage section); 96: base (attachment section); 220:    component support member (component support section); 280: component    supply unit; 282: component supply unit; 285: component support    member (component support section); 286: inclined plate (inclined    section); 300: component holding head moving device (moving device);    332: suction nozzle (holding tool); 452: individual control device    (control device); 470: information acquiring section; 472: operation    control section

1. A component supply device comprising: a component support sectionconfigured to support multiple types of components in a scattered state;an imaging device configured to image the component supported by thecomponent support section; a holding tool configured to hold thecomponent supported by the component support section; a moving deviceconfigured to move the holding tool to any position above the componentsupport section; and a control section configured to control operationof the holding tool and the moving device, wherein the control sectionincludes an information acquiring section configured to acquireidentification information for identifying each type of the multipletypes of components and position information representing a position ofeach of the multiple types of components on the component supportsection, based on image data imaged by the imaging device, and anoperation control section configured to control operation of the holdingtool and the moving device based on the identification information andthe position information acquired by the information acquiring section,such that any type of the multiple types of components supported by thecomponent support section can be held by the holding tool.
 2. Thecomponent supply device according to claim 1, further comprising aninclined section via which the multiple types of components can besupplied by an operator, wherein the component support section supportsthe multiple types of components in a scattered state, the multipletypes of components having fallen from the inclined section.
 3. Thecomponent supply device according to claim 1, further comprising astorage section configured to store the multiple types of components,the component support section configured to support the multiple typesof components in a scattered state, the multiple types of componentshaving been discharged from an opening of the storage section, and anattachment section to and from which a component supply unit can beattached and detached, the component supply unit being configured fromthe storage section and the component support section.
 4. The componentsupply device according to claim 3, further comprising multiple of thecomponent supply units having different widths, wherein each of themultiple component supply units is detachably attached to the attachmentsection.